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add support for picking, using point 2 point constraint

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allow to remove constraints by unique id
added tiny wavefront loader, plan to use this instead of existing slow wavefront loader
This commit is contained in:
erwin coumans
2013-07-10 00:21:23 -07:00
parent 9610b369a3
commit 2aad8419b7
18 changed files with 1005 additions and 14 deletions
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36
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
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@@ -56,6 +56,7 @@ bool dumpContactStats = false;
b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue q,class b3GpuNarrowPhase* narrowphase, class b3GpuSapBroadphase* broadphaseSap , struct b3DynamicBvhBroadphase* broadphaseDbvt, const b3Config& config)
{
m_data = new b3GpuRigidBodyPipelineInternalData;
m_data->m_constraintUid=0;
m_data->m_config = config;
m_data->m_context = ctx;
m_data->m_device = device;
@@ -140,9 +141,41 @@ void b3GpuRigidBodyPipeline::removeConstraint(b3TypedConstraint* constraint)
m_data->m_joints.remove(constraint);
}
void b3GpuRigidBodyPipeline::removeConstraintByUid(int uid)
{
m_data->m_gpuSolver->recomputeBatches();
//slow linear search
m_data->m_gpuConstraints->copyToHost(m_data->m_cpuConstraints);
//remove
for (int i=0;i<m_data->m_cpuConstraints.size();i++)
{
if (m_data->m_cpuConstraints[i].m_uid == uid)
{
//m_data->m_cpuConstraints.remove(m_data->m_cpuConstraints[i]);
m_data->m_cpuConstraints.swap(i,m_data->m_cpuConstraints.size()-1);
m_data->m_cpuConstraints.pop_back();
break;
}
}
if (m_data->m_cpuConstraints.size())
{
m_data->m_gpuConstraints->copyFromHost(m_data->m_cpuConstraints);
} else
{
m_data->m_gpuConstraints->resize(0);
}
}
int b3GpuRigidBodyPipeline::createPoint2PointConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB)
{
m_data->m_gpuSolver->recomputeBatches();
b3GpuGenericConstraint c;
c.m_uid = m_data->m_constraintUid;
m_data->m_constraintUid++;
c.m_flags = B3_CONSTRAINT_FLAG_ENABLED;
c.m_rbA = bodyA;
c.m_rbB = bodyB;
@@ -151,10 +184,11 @@ int b3GpuRigidBodyPipeline::createPoint2PointConstraint(int bodyA, int bodyB, co
c.m_breakingImpulseThreshold = 1e30f;
c.m_constraintType = B3_GPU_POINT2POINT_CONSTRAINT_TYPE;
m_data->m_cpuConstraints.push_back(c);
return 0;
return c.m_uid;
}
int b3GpuRigidBodyPipeline::createFixedConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, const float* frameOrnA, const float* frameOrnB)
{
m_data->m_gpuSolver->recomputeBatches();
return 0;
}